Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++Devices/src/Victor.cpp

@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Victor.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common initialization code called by all constructors.
+ *
+ * Note that the Victor uses the following bounds for PWM values.  These values were determined
+ * empirically and optimized for the Victor 888. These values should work reasonably well for
+ * Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
+ * the deadband or inability to saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the Victor 884 User Manual available from IFI.
+ *
+ *   - 206 = full "forward"
+ *   - 131 = the "high end" of the deadband range
+ *   - 128 = center of the deadband range (off)
+ *   - 125 = the "low end" of the deadband range
+ *   - 56 = full "reverse"
+ */
+void Victor::InitVictor() {
+	SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+
+	SetPeriodMultiplier(kPeriodMultiplier_2X);
+	SetRaw(m_centerPwm);
+
+	LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
+}
+
+/**
+ * @param channel The PWM channel that the Victor is attached to.
+ */
+Victor::Victor(uint32_t channel) : SafePWM(channel)
+{
+	InitVictor();
+}
+
+Victor::~Victor()
+{
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void Victor::Set(float speed, uint8_t syncGroup)
+{
+	SetSpeed(speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float Victor::Get()
+{
+	return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Victor::Disable()
+{
+	SetRaw(kPwmDisabled);
+}
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void Victor::PIDWrite(float output)
+{
+	Set(output);
+}